Organization and Basis of Presentation (Details) $ in Thousands	1 Months Ended		9 Months Ended
	Dec. 31, 2021 USD ($)	Mar. 31, 2019 USD ($)	Sep. 30, 2023 USD ($) Program item	Sep. 30, 2022 USD ($)	Dec. 31, 2022 USD ($)
Principal Business Activity [Line Items]
Number of programs in clinical development | Program			6
Number of distinct areas of unmet medical need | item			3
Accumulated deficit			$ (574,446)		$ (470,204)
Cash flows from operations			(90,818)	$ (56,831)
Cash, cash equivalents	$ 137,703		$ 64,403	$ 114,706	$ 115,516
Janssen Pharmaceuticals Inc | Collaboration Agreement
Principal Business Activity [Line Items]
Collaboration agreement upfront payment		$ 100,000
Milestone payments	$ 30,000
Minimum
Principal Business Activity [Line Items]
Offsetting expense, period			12 months